• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.8 no.3
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• pp.945-953
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• 2018

In this paper, we use 3-D LIDAR for obstacle detection and avoidance maneuver for autonomous unmanned operation. It is aimed to avoid obstacle avoidance in unmanned water under marine condition using only single sensor. 3D lidar uses Quanergy's M8 sensor to collect surrounding obstacle data and includes layer information and intensity information in obstacle information. The collected data is converted into a three-dimensional Cartesian coordinate system, which is then mapped to a two-dimensional coordinate system. The data including the obstacle information converted into the two-dimensional coordinate system includes noise data on the water surface. So, basically, the noise data generated regularly is defined by defining a hypothetical region of interest based on the assumption of unmanned water. The noise data generated thereafter are set to a threshold value in the histogram data calculated by the Vector Field Histogram, And the noise data is removed in proportion to the amount of noise. Using the removed data, the relative object was searched according to the unmanned averaging motion, and the density map of the data was made while keeping one cell on the virtual grid map. A polar histogram was generated for the generated obstacle map, and the avoidance direction was selected using the boundary value.

• Journal of the Society of Naval Architects of Korea
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• v.28 no.1
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• pp.38-52
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• 1991

In this paper, a semi-Lagrangian method is used to solve the nonlinear hydrodynamics of a three-dimensional body beneath the free surface in the time domain. The boundary value problem is solved by using the boundary integral method. The geometries of the body and the free surface are represented by the curved panels. The surfaces are discretized into the small surface elements using a bi-cubic B-spline algorithm. The boundary values of $\phi$ and $\frac{\partial{\phi}}{\partial{n}}$ are assumed to be bilinear on the subdivided surface. The singular part proportional to $\frac{1}{R}$ are subtracted off and are integrated analytically in the calculation of the induced potential by singularities. The far field flow away from the body is represented by a dipole at the origin of the coordinate system. The Runge-Kutta 4-th order algorithm is employed in the time stepping scheme. The three-dimensional form of the integral equation and the boundary conditions for the time derivative of the potential Is derived. By using these formulas, the free surface shape and the equations of motion are calculated simultaneously. The free surface shape and fille forces acting on a body oscillating sinusoidally with large amplitude are calculated and compared with published results. Nonlinear effects on a body near the free surface are investigated.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.37 no.1
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• pp.1-15
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• 2000

To reconstruct 3- D shape, It is a common strategy to acquire multiple range Images from different viewpoints and integrate them into a common coordinates In this paper, we particularly focus on the registration and integration processes for combining all range Images into one surface model. For the registration, we propose the 2-step registration algorithm, which consists of 2 steps the rough registration step using all data points and the fine registration step using the high-curved data points For the integration, we propose a new algorithm, referred to as ‘multi-registration’ technique, to alleviate the error accumulation problem, which occurs during applying the pair-wise registration to each range image sequentially, in order to transform them into a common reference frame Intensive experiments are performed on the various real range data In experiments, all range images were registered within 1 minutes on Pentium 150MHz PC The results show that the proposed algorithms registrate and integrate multiple range Images within a tolerable error bound in a reasonable computation time, and the total error between all range Images are equalized with our proposed algorithms.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.9
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• pp.4142-4148
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• 2013

Because of effective fruit growing and management in the slope land, the use of orchard vehicle with lifting utilities has been increased. For this reason the study on the stability of that vehicle for worker's safety is needed. This study is investigated on the stability estimation of orchard vehicle with four wheels and dual rectangular-type lifting utilities which can be moved on the dirt sloping load. Through the multi-body dynamics analysis on the vehicle mechanism, overturning angles of 19.2 and $34.6^{\circ}$ in the right-left and front-rear direction can be calculated. It is determined tractive resistances and required powers of the wheels. And through the finite element analysis on the frame of lifting utility its maximum von-Mises stress is 146 MPa and it is structural stable. Therefore it is known that the orchard vehicle with wheels and lifting utilities has static and dynamic stability.

• Bulletin of the Society of Naval Architects of Korea
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• v.27 no.2
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• pp.21-30
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• 1990

Theoretical and experimental techniques to analyze the two-dimensional liquid motion in a tank are discussed. A Lagrangian FEM with a velocity correction procedure is introduced to describe incompressible free surface fluid flow. A mesh rezoning technique is used to prevent strong distortion of finite elements in the Lagrangian description. Model test technique for sloshing tank is developed using a hydraulic type bench tester. The influence of the variation in the exciting frequency and amplitude are observed for various fill depths. The results of theoretical calculations are compared with those of experiments.

• Journal of Ocean Engineering and Technology
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• v.11 no.2
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• pp.100-106
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• 1997

Viscous flow around an actual ship is calculated by an use of RANS(Reynolds-averaged Navier-Stokes) solver. Reynolds stress is modelled by using k-$\varepsilon$ turbulence model and the law of wall is applied near the body. Body fitted coordinates are introduced for the treatment of the complex boundary of the ship hull form. The transformed equations in the computational domain are numerically solved by an employment of FVM(Finite Volume Method). SIMPLE(Semi-Implcit Pressure Linked Equation) method is adopted in the calculation of pressure and the solution of the disssssssscretized equation is obtained by the line-by-line method with the use of TDMA(Tri-Diagonal Matrix Algorithme). The subject ship model of actual calculation is 4,410 TEU class container carrier. For 4 geosim models the calculated viscous resistancce values are compared with the model test results and analyzed on their componentss. The resistance performance of an actual ship is predicted very resonably, so this mothod may be utilized as a design tool of hull form.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.6
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• pp.1163-1168
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• 2001

The ranging systems measure range data in three-dimensional coordinate from target surface. These non-contact remote ranging systems is widely used in various automation applications, including military equipment, construction field, navigation, inspection, assembly, and robot vision. The active ranging systems using time of flight technique or light pattern illumination technique are complex and expensive, the passive systems based on stereo or focusing principle are time-consuming. The proposed algorithm, that is based on cross correlation of projection profile of vertical edge, provides advantages of fast and simple operation in the range acquisition. The results of experiment show the effectiveness of the proposed algorithm.

• Journal of the Society of Naval Architects of Korea
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• v.34 no.2
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• pp.39-47
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• 1997

In the present paper, viscous flow fields around a wigley hull with appendages are analysed to study interactions between the hull and appendages. Navier-Stokes and continuity equations are solved by a finite volume method in a body-fitted coordinate system which conforms three dimensional ship geometries with appendages. A Sub-Grid Scale(SGS) turbulent model is used for a calculation of high Reynolds number flow. Numerical computations has been done for a Wigley hull form at $Rn=1.0{\times}10^6$. The results show that the present approach can predict, at least in qualitative sense, the influence of the appendages upon the flow field around a ship.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.5
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• pp.899-909
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• 1992

An iterative solution technique is presented to analyze the dynamic systems of rigid bodies subjected to kinematic constraints. Lagrange multipliers associated with the constraints are iteratively computed by monotonically reducing an appropriately defined constraint error vector, and the resulting equation of motion is solved by a well-established ODE technique. Constraints on the velocity and acceleration as well as the position are made to be satisfied at joints at each time step. Time integration is efficiently performed because decomposition or orthonormalization of the large matrix is not required at all. An acceleration technique is suggested for the faster convergence of the iterative scheme.

• Journal of Ocean Engineering and Technology
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• v.13 no.2 s.32
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• pp.138-146
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• 1999

The viscous flow around a ship hull is calculated by the use of RANS(Reynolds-averaged Navier-Stokes) solver. Reynolds stresses are midelled by using the k-${epsilon}$ turbulence model and the law is applied near the body. Body fitted corrdinates are introduced for the treatment of the complex boundary of the ship hull form and the governing equations in the physical domain transformed into ones in the computational domain. The transformed equations are numerically solved by an employment of FVM(Finite Volume Method). SIMPLE(Semi-Implicit Pressure Linked Equation) method is adopted in the calculation of pressure and the solution of the sidcretized equation is obtained by the line-by-line method with the use of TDMA(Tri-Diagonal Matrix Algorithme). To assure the proprietty of this computing method, HSVA tanker and Dyne hull are calculated ar both model and ship scale Reynolds number. Their reaults of pressure distributions on fore and aft body, axial velocity contours and transverse velocity velocity vectors and viscous resistance coefficients are compared with other's experiments and calculations.